The singer control class needs to sequence motion. The angle can't change when you're below a certain height. The height has to go up before the angle is allowed to change, and the angle must be at the "intake" angle before descending below that height.
Consider creating a "lockout" mode where we do not move motors when the signer ends up in a position where rotating is dangerous.?
Alternatively, if the angle is not correct, just drive upward until you can rotate, then rotate.
The singer control class needs to sequence motion. The angle can't change when you're below a certain height. The height has to go up before the angle is allowed to change, and the angle must be at the "intake" angle before descending below that height.
Consider creating a "lockout" mode where we do not move motors when the signer ends up in a position where rotating is dangerous.?
Alternatively, if the angle is not correct, just drive upward until you can rotate, then rotate.